# uORB Message Reference

:::note
This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::

This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)). Graphs showing how these are used [can be found here](../middleware/uorb_graph.md).

- [ActionRequest](ActionRequest.md)
- [ActuatorArmed](ActuatorArmed.md)
- [ActuatorControlsStatus](ActuatorControlsStatus.md)
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
- [ActuatorOutputs](ActuatorOutputs.md)
- [ActuatorServos](ActuatorServos.md) — Servo control message
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
- [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.md)
- [Airspeed](Airspeed.md)
- [AirspeedValidated](AirspeedValidated.md)
- [AirspeedWind](AirspeedWind.md)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
- [BatteryStatus](BatteryStatus.md)
- [ButtonEvent](ButtonEvent.md)
- [CameraCapture](CameraCapture.md)
- [CameraStatus](CameraStatus.md)
- [CameraTrigger](CameraTrigger.md)
- [CellularStatus](CellularStatus.md)
- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
- [CollisionReport](CollisionReport.md)
- [ControlAllocatorStatus](ControlAllocatorStatus.md)
- [Cpuload](Cpuload.md)
- [DebugArray](DebugArray.md)
- [DebugKeyValue](DebugKeyValue.md)
- [DebugValue](DebugValue.md)
- [DebugVect](DebugVect.md)
- [DifferentialPressure](DifferentialPressure.md)
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
- [EscReport](EscReport.md)
- [EscStatus](EscStatus.md)
- [EstimatorAidSource1d](EstimatorAidSource1d.md)
- [EstimatorAidSource2d](EstimatorAidSource2d.md)
- [EstimatorAidSource3d](EstimatorAidSource3d.md)
- [EstimatorBias](EstimatorBias.md)
- [EstimatorBias3d](EstimatorBias3d.md)
- [EstimatorEventFlags](EstimatorEventFlags.md)
- [EstimatorGpsStatus](EstimatorGpsStatus.md)
- [EstimatorInnovations](EstimatorInnovations.md)
- [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
- [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
- [EstimatorStates](EstimatorStates.md)
- [EstimatorStatus](EstimatorStatus.md)
- [EstimatorStatusFlags](EstimatorStatusFlags.md)
- [Event](Event.md) — Events interface
- [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks.
- [FailureDetectorStatus](FailureDetectorStatus.md)
- [FollowTarget](FollowTarget.md)
- [FollowTargetEstimator](FollowTargetEstimator.md)
- [FollowTargetStatus](FollowTargetStatus.md)
- [GeneratorStatus](GeneratorStatus.md)
- [GeofenceResult](GeofenceResult.md)
- [GimbalControls](GimbalControls.md)
- [GimbalDeviceAttitudeStatus](GimbalDeviceAttitudeStatus.md)
- [GimbalDeviceInformation](GimbalDeviceInformation.md)
- [GimbalDeviceSetAttitude](GimbalDeviceSetAttitude.md)
- [GimbalManagerInformation](GimbalManagerInformation.md)
- [GimbalManagerSetAttitude](GimbalManagerSetAttitude.md)
- [GimbalManagerSetManualControl](GimbalManagerSetManualControl.md)
- [GimbalManagerStatus](GimbalManagerStatus.md)
- [GpioConfig](GpioConfig.md) — GPIO configuration
- [GpioIn](GpioIn.md) — GPIO mask and state
- [GpioOut](GpioOut.md) — GPIO mask and state
- [GpioRequest](GpioRequest.md) — Request GPIO mask to be read
- [GpsDump](GpsDump.md) — This message is used to dump the raw gps communication to the log. Set the parameter GPS_DUMP_COMM to 1 to use this.
- [GpsInjectData](GpsInjectData.md)
- [Gripper](Gripper.md) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
- [HealthReport](HealthReport.md)
- [HeaterStatus](HeaterStatus.md)
- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
- [HoverThrustEstimate](HoverThrustEstimate.md)
- [InputRc](InputRc.md)
- [InternalCombustionEngineStatus](InternalCombustionEngineStatus.md)
- [IridiumsbdStatus](IridiumsbdStatus.md)
- [IrlockReport](IrlockReport.md) — IRLOCK_REPORT message data
- [LandingGear](LandingGear.md)
- [LandingGearWheel](LandingGearWheel.md)
- [LandingTargetInnovations](LandingTargetInnovations.md)
- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only)
- [LedControl](LedControl.md) — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's
- [LogMessage](LogMessage.md) — A logging message, output with PX4_{WARN,ERR,INFO}
- [LoggerStatus](LoggerStatus.md)
- [MagWorkerData](MagWorkerData.md)
- [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md)
- [ManualControlSetpoint](ManualControlSetpoint.md)
- [ManualControlSwitches](ManualControlSwitches.md)
- [MavlinkLog](MavlinkLog.md)
- [MavlinkTunnel](MavlinkTunnel.md) — MAV_TUNNEL_PAYLOAD_TYPE enum
- [Mission](Mission.md)
- [MissionResult](MissionResult.md)
- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. Note that this is not always published (e.g. when a user switches modes or on failsafe activation)
- [MountOrientation](MountOrientation.md)
- [NavigatorMissionItem](NavigatorMissionItem.md)
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
- [NpfgStatus](NpfgStatus.md)
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
- [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data
- [OrbTest](OrbTest.md)
- [OrbTestLarge](OrbTestLarge.md)
- [OrbTestMedium](OrbTestMedium.md)
- [OrbitStatus](OrbitStatus.md) — ORBIT_YAW_BEHAVIOUR
- [ParameterUpdate](ParameterUpdate.md) — This message is used to notify the system about one or more parameter changes
- [Ping](Ping.md)
- [PositionControllerLandingStatus](PositionControllerLandingStatus.md)
- [PositionControllerStatus](PositionControllerStatus.md)
- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency
- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
- [PowerButtonState](PowerButtonState.md) — power button state notification message
- [PowerMonitor](PowerMonitor.md) — power monitor message
- [PpsCapture](PpsCapture.md)
- [PwmInput](PwmInput.md)
- [Px4ioStatus](Px4ioStatus.md)
- [QshellReq](QshellReq.md)
- [QshellRetval](QshellRetval.md)
- [RadioStatus](RadioStatus.md)
- [RateCtrlStatus](RateCtrlStatus.md)
- [RcChannels](RcChannels.md)
- [RcParameterMap](RcParameterMap.md)
- [Rpm](Rpm.md)
- [RtlTimeEstimate](RtlTimeEstimate.md)
- [SatelliteInfo](SatelliteInfo.md)
- [SensorAccel](SensorAccel.md)
- [SensorAccelFifo](SensorAccelFifo.md)
- [SensorBaro](SensorBaro.md)
- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not change with board revisions and sensor updates.
- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor
- [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)
- [SensorGyro](SensorGyro.md)
- [SensorGyroFft](SensorGyroFft.md)
- [SensorGyroFifo](SensorGyroFifo.md)
- [SensorHygrometer](SensorHygrometer.md)
- [SensorMag](SensorMag.md)
- [SensorOpticalFlow](SensorOpticalFlow.md)
- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
- [SystemPower](SystemPower.md)
- [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters
- [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process
- [TecsStatus](TecsStatus.md)
- [TelemetryStatus](TelemetryStatus.md)
- [TiltrotorExtraControls](TiltrotorExtraControls.md)
- [TimesyncStatus](TimesyncStatus.md)
- [TrajectoryBezier](TrajectoryBezier.md) — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled
- [TrajectoryWaypoint](TrajectoryWaypoint.md) — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
- [TransponderReport](TransponderReport.md)
- [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM then the frequency, duration are used otherwise those values are ignored.
- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type
- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type
- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA mavlink message
- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had the NEED_ACK flag set
- [UwbDistance](UwbDistance.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone.
- [UwbGrid](UwbGrid.md) — UWB report message contains the grid information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone.
- [VehicleAcceleration](VehicleAcceleration.md)
- [VehicleAirData](VehicleAirData.md)
- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
- [VehicleAngularVelocity](VehicleAngularVelocity.md)
- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
- [VehicleControlMode](VehicleControlMode.md)
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS measurement (@see vehicle_gps_position). This topic is usually published by the position estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form.
- [VehicleImuStatus](VehicleImuStatus.md)
- [VehicleLandDetected](VehicleLandDetected.md)
- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled
- [VehicleMagnetometer](VehicleMagnetometer.md)
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
- [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units.
- [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md)
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
- [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI)
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
- [VehicleThrustSetpoint](VehicleThrustSetpoint.md)
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
- [VehicleTrajectoryBezier](VehicleTrajectoryBezier.md) — Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg The topic vehicle_trajectory_bezier is used to send a smooth flight path from the companion computer / avoidance module to the position controller.
- [VehicleTrajectoryWaypoint](VehicleTrajectoryWaypoint.md) — Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module. The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
- [Wind](Wind.md)
- [YawEstimatorStatus](YawEstimatorStatus.md)

    